CN106333720B - Intelligent hysteroscope stapler - Google Patents
Intelligent hysteroscope stapler Download PDFInfo
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- CN106333720B CN106333720B CN201610898388.0A CN201610898388A CN106333720B CN 106333720 B CN106333720 B CN 106333720B CN 201610898388 A CN201610898388 A CN 201610898388A CN 106333720 B CN106333720 B CN 106333720B
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- closure
- percussion
- end effector
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention relates to a kind of intelligent hysteroscope staplers, comprising: surgical end effector；Part type identification module；Drive shaft；It is closed limit switch；Handle, comprising: motor controller；Closure percussion common switch；Closure percussion switching switch；Wherein, closure percussion common switch is in drive shift, and closure percussion switching switchs when being in closure position, controller controls motor and drive shaft is driven to advance, after drive shaft, which advances to closure limit switch, to be triggered, controller stalls motor, closure percussion common switch be in drive shift and closure percussion switching switch be switched to fire position after, controller controls motor and drive shaft is driven to continue along straight ahead, when closure percussion common switch is in reverse drive gear, controller controls motor and drive shaft is driven to retreat along straight line.The i.e. controllable drive shaft of gear information that controller need to only fire switching switch and closure percussion common switch according to closure is advanced, and to be respectively completed closure and firing action, does not need to manually control closure dynamics.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of intelligent hysteroscope stapler.
Background technique
In minimal invasive operation, hysteroscope stapler is commonly used for completing the cutting closure function of tissue.Existing hysteroscope
Stapler is to rely on manually disposable using apparatus more.During surgery, doctor often needs manual closing and percussion.It fired
The cutting that journey needs huge percussion force that could complete previous anastomotic is closed.Huge closing force brings arm during percussion to tremble
It is dynamic to cause excessively to pull, to influence the docking closure of previous anastomotic and at nail effect-Cheng Ding is not complete or excessive compression, and then lead
The potential leakage of previous anastomotic and irregular narrow is caused, surgical effect is influenced.The speed of hand instrument closure is slow simultaneously, and unstable
It is fixed.
Summary of the invention
Based on this, it is necessary to provide a kind of intelligent hysteroscope stapler, can be avoided to manually control causes closure, percussion to be lost
Accidentally, guarantee the effect of operation.
A kind of intelligence hysteroscope stapler, comprising:
Surgical end effector, the surgical end effector are removably installed replaceable part；
Part type identification module is arranged in the surgical end effector, to identify the replaceable part
Type；
Drive shaft is arranged in the surgical end effector, to drive the replaceable part；
It is closed limit switch, is arranged in the surgical end effector, to detect the movement travel of the drive shaft；
It is connected to the handle of the surgical end effector, for manipulating the surgical end effector, the handle tool
Have:
Motor, to drive the drive shaft to move forward or back along straight line towards the replaceable part；
Controller, the letter being triggered for receiving type information, the closure limit switch that the type identification module is sent
Breath, and the rotation to control the motor；
Closure percussion common switch, is set to surgical end effector or handle, and be electrically connected with the controller, has and advance
Shelves and reverse drive gear；
Closure percussion switching switch, is set to surgical end effector or handle, and be electrically connected with the controller, has closure
Position and percussion position；
Wherein, the closure fires common switch and is in drive shift, and closure percussion switching switch is in when being closed position, institute
Stating controller control motor drives drive shaft to advance, after drive shaft, which advances to the closure limit switch, to be triggered, controller
Stall motor, the closure percussion common switch is in drive shift and closure percussion switching switch is switched to percussion position
Afterwards, the controller controls the motor drive drive shaft and continues along straight ahead, and closure percussion common switch is in reverse drive gear
When, the controller controls the motor and drive shaft is driven to retreat along straight line.
Above-mentioned intelligence hysteroscope stapler, after controller identifies work head type, directly fires at common switch according to closure
It is moved forward or back in the status information of forward gear or reverse drive gear to control drive shaft, when controller controls drive shaft advance, according to
The information of closure limit switch is fed back to determine whether to complete closure, is fired according to closure and switch switch in closure position or percussion
The location information of position calls closed routine or percussion program respectively, and user only needs to operate closure percussion common switch, closure
Closure and percussion can be completed in percussion switching switch, does not need to manually control closure or firing schedule, to guarantee the effect of operation
Fruit.
The part type identification module includes: in one of the embodiments,
Identification signal recurring structure is arranged in the surgical end effector；And
Trigger unit is arranged in the surgical end effector, to make the identification signal in which can be changed state
Recurring structure generates different electric signals and is sent to controller；
Wherein, when the replaceable part is installed on the surgical end effector, the trigger unit is changed originally
State.
It is described replaceable when the replaceable part connects the surgical end effector in one of the embodiments,
Part pushes trigger unit mobile, and the identification signal recurring structure is generated by detecting the change in displacement of the trigger unit
Different electric signals.
The trigger unit is movable block in one of the embodiments, and the identification signal recurring structure includes distance
Sensor, the identification signal recurring structure generate telecommunications by the distance between monitoring distance sensor and trigger unit
Number.
The trigger unit is the movable block with several loopholes, the identification signal in one of the embodiments,
Recurring structure includes several optoelectronic switches, and when the trigger unit is located at different positions, the optoelectronic switch is differently hidden
It covers, the optoelectronic switch sends different electric signals to the controller.
The trigger unit is movable magnet in one of the embodiments, and the identification signal recurring structure is
Several Hall switch；Or the identification signal recurring structure includes several microswitches or close switch.
The surgical end effector further includes resetting structure in one of the embodiments, and the resetting structure provides
The elastic force that the replaceable part resets the trigger unit from after surgical end effector removal.
The surgical end effector and the handle are detachably connected in one of the embodiments, the operation
End effector has the communication joint being electrically connected with the identification signal recurring structure, and the handle has and the communication
Communication interface that connector cooperates and with controller electrical connection.
The closure limit switch is optoelectronic switch, microswitch or close switch in one of the embodiments,.
It is provided with gear and rack teeth mechanism between the motor and drive shaft in one of the embodiments, to by motor
The rotary motion of output shaft be converted to the linear motion of drive shaft, the surgical end effector also has and drive shaft or tooth
Take turns the push-pull rod that the rack gear in rackwork is connected.
Detailed description of the invention
Fig. 1 is the schematic diagram of the intelligent hysteroscope stapler of the present invention；
Fig. 2 is the structural block diagram of intelligent hysteroscope stapler of the invention；
Fig. 3 is the schematic diagram of the replaceable part of the embodiment of the present invention one；
Fig. 4 is the schematic diagram of the replaceable part of the embodiment of the present invention two；
Fig. 5 is the schematic diagram of the replaceable part of the embodiment of the present invention three；
When the replaceable part that Fig. 6 to Fig. 8 respectively illustrates embodiment one to embodiment three is connect with adapter, photoelectricity is opened
Close the principle for generating different signals；
Fig. 9 is the structural schematic diagram of the intelligent hysteroscope stapler of the present invention；
Figure 10 is the diagrammatic cross-section of the stapler of Fig. 9.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited by the specific embodiments disclosed below.
With reference to the accompanying drawing, illustrate the better embodiment of intelligent hysteroscope stapler.
Referring to FIG. 1, Fig. 9 and Figure 10, a kind of intelligent hysteroscope stapler is proposed, including handle 110, connect with handle 110
Surgical end effector 120.
Join Fig. 2, handle 110 is held for user, and setting power supply 112, motor 113, control motor 112 are transported in handle 110
The controller 114 turned.
Surgical end effector 120 is removably installed replaceable part 130.Surgical end effector 120 is connection hand
The adapter of handle 110 and replaceable part 130 can connect different types of replaceable part 130.Surgical end effector
120 with 110 unitary design of handle；Certainly the two is also possible to two-piece type, i.e. surgical end effector 120 is with handle 110
It is detachably connected.Close mechanism, firing lock can be set in surgical end effector 120, to receive the transmitting of motor 112
Power, and control replaceable part 130 and complete surgical procedures.
Replaceable part 130 is set as being detachably connected to one end of surgical end effector 120, specifically, can be with
Insertion surgical end effector 120 is simultaneously connect with the coupling part of surgical end effector 120.Replaceable part 130 is to execute
The executive component of the tasks such as cutting, suture, generally comprises nail anvil head, nail bin.Nail bin under the action of close mechanism with nail anvil head
It separates and closed together, to clamp the tissue for needing to suture, nail bin completes quilting jobs under the drive of firing lock.
By replacing the replaceable part 130, benefit is repeated after carrying out disinfection to handle 110 and surgical end effector 120
With can all become disposable elements to avoid all components of stapler, to economize on resources.
After replaceable part 130 is connected to surgical end effector 120, controller 114 needs to identify accurately and in time
Then the type of replaceable part 130 is called corresponding surgical procedures and is executed.
Join Fig. 2, is provided with identification signal recurring structure 122, trigger unit 123 in surgical end effector 120.Wherein,
For identification signal recurring structure 122 to send the electric signal for identification to controller 114, so that controller 114 is identified can
The type of renewal part 130.Trigger unit 123 is arranged in surgical end effector 120, can trigger identification signal recurring structure
122, so that identification signal recurring structure 122 is sent electric signal to controller 114.
Controller 114 and identification signal recurring structure 122 are electrically connected.When surgical end effector 120 and handle 110 are
When detachable connection, handle 110 has the communication interface 115 being electrically connected with controller 114.Surgical end effector 120
With the communication joint 124 being electrically connected with identification signal recurring structure 122.Communication joint 124 to communication interface 115
Mating.
When surgical end effector 120 and handle 110 are detachable connection, the setting of communication joint 124 is at operation end
One end similar in portion's actuator 120 and handle 120.Similarly, communication interface 115 setting with 120 phase of surgical end effector
Close one end.When surgical end effector 120 and handle 110 are integral type, communication joint 124, communication interface 115 will be by one
A to can be realized the element or route replacement that controller 114 and identification signal recurring structure 122 are electrically connected, installation site is without spy
Other requirement.
Trigger unit 123 is configured to be changed its position in surgical end effector 120.Specifically, may be used
Renewal part 130 is connected to surgical end effector 120, and replaceable part 130 has impeller 132, to push trigger unit
Part 123 is moved along desired trajectory, and trigger unit 123 will trigger identification signal recurring structure 122 after changing, and makes signal recurring structure
122 can send signal to controller 114.
Desired trajectory is straight line, specifically, when replaceable part 130 connects surgical end effector 120, replaceable part
130 impeller 132 will push axial direction of the trigger unit 123 along surgical end effector 120 to move linearly.However, pre- orbit determination
Mark can not also be along the axial direction linear movement of surgical end effector 120, such as along the axial direction with surgical end effector 120 in one
The direction for determining angle is mobile.In addition, desired trajectory can also be arching trajectory, it is only necessary to which the size setting of trigger unit 123 is proper
When 120 inner space of surgical end effector allows.
In one embodiment of the invention, trigger unit 123 is the movable block with several loopholes 1232.Identification signal hair
Raw structure 122 includes a pair of of optoelectronic switch 1222.A pair of of optoelectronic switch 1222 is located at the two sides of trigger unit 123.
130 type of replaceable part is different, then position of the impeller 132 on replaceable part 130 is different.Join Fig. 3 extremely
Fig. 5, impeller 132 is in position of the position, impeller 232 on replaceable part 130 on replaceable part 230, impeller
332 position on replaceable part 330 is different each other.In this way, being pushed away when replaceable part 130 pushes trigger unit 123
When moving part 132 will make trigger unit 123 be located at different positions, cover optoelectronic switch 1222 differently, controller 114 connects
Receive different electric signals.
Join Fig. 6, when the replaceable part 130 of embodiment one connects, trigger unit 123 moves to the position in diagram, left
1222 corresponding 1232 light transmissions of loophole of optoelectronic switch on side (have light to pass through, Fig. 7 and Fig. 8 using dash area signal
It is similar), 1222 corresponding 1232 light transmissions of loophole of optoelectronic switch on the right.
Join Fig. 7, when the replaceable part 230 of embodiment two connects, trigger unit 123 moves to the position in diagram, right
One 1232 light transmission of loophole of the corresponding rightmost side of optoelectronic switch 1222 on side, the corresponding light transmission of optoelectronic switch 1222 on the left side
Hole 1232 is opaque.
Join Fig. 8, when the replaceable part 330 of embodiment two connects, trigger unit 123 moves to the position in diagram, left
Optoelectronic switch 1222 corresponding Far Left, one 1232 light transmission of loophole on side, the corresponding loophole of optoelectronic switch 1222 on the right
1232 is opaque.
By Fig. 6 to Fig. 8 it is found that different types of replaceable part 130,230,330 connects surgical end effector 120
When, the shielded situation of optoelectronic switch 1222 is different, and identification signal recurring structure 122 sends different signals to controller 114, into
And controller 114 can identify the type of renewal part 130,230,330, to call suitable surgical procedures.
Further, surgical end effector 120 further includes resetting structure.Resetting structure provides replaceable part 130 certainly
Surgical end effector 120 resets trigger unit 123 elastic force after removing.Resetting structure is the bullets such as spring or rubber spring washer
Property element.
In addition, identification signal recurring structure 122 can be different to generate by detecting the change in displacement of trigger unit 123
Electric signal.At this point, identification signal recurring structure 122 is displacement sensor, detection trigger unit 123 has moved how many distance, into
And different signals is sent to controller 114.
In addition, trigger unit 124 is movable block.Identification signal recurring structure 122 includes range sensor, in this way identification letter
Number recurring structure 122 generates different telecommunications by monitoring distance sensor from the difference of the distance between trigger unit 124
Number.
In addition, trigger unit 124 can be magnet, identification signal recurring structure 122 is several Hall switch.Magnet movement
To different location, different Hall switch is triggered, is sent to the different electric signal of controller 114.
Identification signal recurring structure 122 can be including several microswitches or close switch.At this point, trigger unit 124
For movable block.When different replaceable parts 130 connects handle 110,124 motion conditions of trigger unit are different, and triggering is different
The microswitch of position or close switch, so that controller 114 receives different electric signals.
Identification signal recurring structure 122 and trigger unit 124 constitute part type knowledge in surgical end effector 120
Other module, so that controller 114 is according to the type of renewal part, calls suitable hand to identify the type of replaceable part
Art program.
The intelligent hysteroscope stapler of one embodiment of the invention, user (doctor) only need simple switch operation, i.e.,
Automatic closure, percussion can be achieved, do not need to manually control closure or firing schedule, to guarantee the effect of operation.
Join Fig. 9, drive shaft 125, closure limit switch 126, rack-and-pinion machine are additionally provided in surgical end effector 120
Structure 127, push-pull rod 128.
Drive shaft 125 is to drive replaceable part 130 (only illustrating by taking renewal part 130 as an example).Replaceable part 130
Generally comprise nail seat, nail bin and nail pushing plate.Drive shaft 125 can be moved forward or back towards replaceable part 130.The mistake of advance
Cheng Zhong, drive shaft 125 can drive nail bin and nail seat to be closed by nail pushing plate, and nail pushing plate is driven to complete firing action.Percussion
At the end of, drive shaft 125 retreats, and drive shaft 125 drives nail bin and ejector pin sheet reset when retrogressing.
It is closed limit switch 126 to be arranged in surgical end effector 120, to detect the movement travel of drive shaft 125
Information is simultaneously sent to controller 114.
It is closed closing stroke of the limit switch 126 to detect drive shaft 125, detects the closing stroke of drive shaft 125
Information is simultaneously sent to controller 114.Being closed limit switch 126 can be optoelectronic switch, microswitch or close switch etc..Work as drive
When moving axis 125 moves to the closed position of preset range, triggering is closed limit switch 126, to controller 114 with closing stroke
Reach the signal of preset range.
Motor 112 enables drive shaft 125 to advance along straight line towards replaceable part 130 by gear and rack teeth mechanism 127
Or it is retreated far from replaceable part.
Push-pull rod 128 is connected with drive shaft 125, drives drive shaft 125 to move forward or back under manual mode to realize.Push-and-pull
Bar 128 is also possible to be connected with the rack gear in gear and rack teeth mechanism 127.
Closure percussion common switch 116 is provided on handle 110.114 electricity of closure percussion common switch 116 and controller
Connection, with drive shift 1162 (closure percussion shelves) and reverse drive gear 1164 (opening shelves).Controller 114 is total according to closure percussion
Closed routine or percussion program are called with the gear information rotation of switch 116.
Closure percussion switching switch 129 is provided on surgical end effector 120.Closure percussion switching switch 129 and control
Device 114 processed is electrically connected, and has closure position and percussion position.Wherein, in closure position, 114 calling closed routines of controller are cut
It changes only to after firing position, controller 114 just calls percussion program.Closure percussion switching switch 129 is also possible to be arranged in handle
On 110.
The workflow of intelligent hysteroscope stapler is summarized as follows:
After replaceable part 130 is connect with surgical end effector 120, controller 114 is to obtain replaceable part 130
Type information is matched to suitable closure and percussion program with to be used.
Closure: doctor presses closure percussion switching switch 129 and closure percussion common switch 116 simultaneously, wherein making to be closed
Percussion switching switch 129 is in closure position, so that closure percussion common switch 116 is in drive shift 1162, at this point, controller 114
Control motor 112 drive drive shaft 125 advance to closure limit switch 126 be triggered after, controller 114 stops motor 112
Turn, closure terminates.
Percussion: doctor presses closure percussion switching switch 129 and closure percussion common switch 116 simultaneously, wherein closure is hit
Hair switching switch 129 switches to percussion position, and for closure percussion common switch 116 still in drive shift, controller 114 makes motor 112
It drives drive shaft 125 to continue along straight ahead, and then completes percussion.
It retreats: after the completion of percussion, pressing closure percussion common switch 116, be at reverse drive gear, controller 114 controls
Motor 112 drives drive shaft 125 to retreat along straight line.
At work, due to being provided with part type identification module, controller 114 can be with for above-mentioned intelligence hysteroscope stapler
Matched closure and percussion program are called, controller 114 need to fire according to closure percussion switching switch 129 and closure
The i.e. controllable drive shaft 114 of the gear information of common switch 116 is advanced, and to be respectively completed closure and firing action, does not need hand
Dynamic control closure dynamics, guarantees surgical effect.
In addition, controller 114 need to fire the shelves of switching switch 129 and closure percussion common switch 116 according to closure
Information i.e. controllable drive shaft in position is advanced, and when being converted to percussion by closure, does not need adjustment closure percussion common switch 116,
Doctor only needs to touch conjunction closure percussion switching switch 129, changes the gear state of closure percussion switching switch 129, behaviour
Make very easy.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of intelligence hysteroscope stapler characterized by comprising
Surgical end effector, the surgical end effector are removably installed replaceable part；
Part type identification module is arranged in the surgical end effector, to identify the type of the replaceable part；
Drive shaft is arranged in the surgical end effector, to drive the replaceable part；
It is closed limit switch, is arranged in the surgical end effector, to detect the movement travel of the drive shaft；
It is connected to the handle of the surgical end effector, for manipulating the surgical end effector, the handle is included
Motor, to drive the drive shaft to move forward or back along straight line towards the replaceable part；And
Controller, the information being triggered for receiving type information, the closure limit switch that the type identification module is sent, and
To control the rotation of the motor；
Closure percussion common switch, be set to surgical end effector or handle, and be electrically connected with the controller, have drive shift and
Reverse drive gear；
Closure percussion switching switch, be set to surgical end effector or handle, and be electrically connected with the controller, have closure position and
Fire position；
Wherein, the closure fires common switch and is in drive shift, and closure percussion switching switch is in when being closed position, the control
Device control motor processed drives drive shaft to advance, and after drive shaft, which advances to the closure limit switch, to be triggered, controller makes electricity
Machine stalling, the closure percussion common switch is in drive shift and closure percussion switching switchs after being switched to percussion position,
The controller controls the motor and drive shaft is driven to continue along straight ahead, when closure percussion common switch is in reverse drive gear,
The controller controls the motor and drive shaft is driven to retreat along straight line；
The controller calls matched closure and percussion program according to the type of the replaceable part, and according to the closure
The gear information of percussion switching switch and closure percussion common switch controls the drive shaft and advances, and is respectively completed closure and percussion
Movement；
The part type identification module includes:
Identification signal recurring structure is arranged in the surgical end effector；And
Trigger unit is arranged in the surgical end effector in which can be changed state, the identification signal occurs
Structure generates different electric signals and is sent to controller；
Wherein, when the replaceable part is installed on the surgical end effector, the trigger unit is changed original shape
State；
The surgical end effector further includes resetting structure, and the resetting structure provides the replaceable part from the operation
End effector resets trigger unit elastic force after removing.
2. intelligence hysteroscope stapler according to claim 1, which is characterized in that the replaceable part connects the operation
When end effector, the replaceable part pushes trigger unit mobile, and the identification signal recurring structure passes through described in detection
The change in displacement of trigger unit generates different electric signals.
3. intelligence hysteroscope stapler according to claim 1, which is characterized in that the trigger unit is movable block, described
Identification signal recurring structure includes range sensor, and the identification signal recurring structure passes through monitoring distance sensor and trigger unit
The distance between part generates electric signal.
4. intelligence hysteroscope stapler according to claim 1, which is characterized in that the trigger unit is with several light transmissions
The movable block in hole, the identification signal recurring structure includes several optoelectronic switches, when the trigger unit is located at different positions,
The optoelectronic switch is differently covered, and the optoelectronic switch sends different electric signals to the controller.
5. intelligence hysteroscope stapler according to claim 1, which is characterized in that the trigger unit is movable magnetic
Iron, the identification signal recurring structure are several Hall switch；Or the identification signal recurring structure includes several microswitches
Or close switch.
6. intelligence hysteroscope stapler according to claim 1, which is characterized in that the surgical end effector and the hand
Handle is detachably connected, and there is the surgical end effector communication being electrically connected with the identification signal recurring structure to connect
Head, the handle have communication interface cooperating with the communication joint and with controller electrical connection.
7. intelligence hysteroscope stapler according to claim 1, which is characterized in that the closure limit switch is opened for photoelectricity
Pass, microswitch or close switch.
8. intelligence hysteroscope stapler according to claim 1, which is characterized in that be provided between the motor and drive shaft
Gear and rack teeth mechanism, the rotary motion of the output shaft of motor to be converted to the linear motion of drive shaft, the surgical end
Actuator also has the push-pull rod being connected with the rack gear in drive shaft or gear and rack teeth mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610898388.0A CN106333720B (en) | 2016-10-14 | 2016-10-14 | Intelligent hysteroscope stapler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610898388.0A CN106333720B (en) | 2016-10-14 | 2016-10-14 | Intelligent hysteroscope stapler |
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| CN106333720A CN106333720A (en) | 2017-01-18 |
| CN106333720B true CN106333720B (en) | 2019-02-15 |
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| CN106923882A (en) * | 2017-03-09 | 2017-07-07 | 北京派尔特医疗科技股份有限公司 | Stapler switch control assembly, nail bin groupware Rotable Control System and control circuit |
| CN107192692B (en) * | 2017-06-07 | 2020-06-26 | 浙江世宝股份有限公司 | Error-proofing detection method for structural part assembly in automobile, machinery or household appliance manufacturing industry |
| CN107693070A (en) * | 2017-10-31 | 2018-02-16 | 无锡贝恩外科器械有限公司 | A kind of disposable hysteroscope linear cutting anastomat |
| CN109350157A (en) * | 2018-11-08 | 2019-02-19 | 北京派尔特医疗科技股份有限公司 | A kind of electronic stapler of recognizable nail kit information |
| CN111248970B (en) * | 2018-11-30 | 2021-06-18 | 苏州英途康医疗科技有限公司 | Medical instrument |
| CN111317527B (en) * | 2018-12-14 | 2021-07-06 | 山东威瑞外科医用制品有限公司 | Electric intracavity cutting anastomat |
| CN112690864B (en) * | 2019-10-23 | 2022-03-22 | 苏州英途康医疗科技有限公司 | Medical instrument and automatic clamp feeding method |
| WO2021109592A1 (en) * | 2019-12-05 | 2021-06-10 | 山东威瑞外科医用制品有限公司 | Electronic stapler and control system thereof |
| CN113729823A (en) * | 2021-09-26 | 2021-12-03 | 重庆迈科唯医疗科技有限公司 | Electric anastomat with nail box identification system and nail box identification method |
| CN113796907B (en) * | 2021-09-26 | 2023-09-05 | 赛诺微医疗科技（浙江）有限公司 | Stroke detection structure, control method thereof, electric anastomat and medical equipment |
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